WO2022127525A1 - Système de dispositif à conduite autonome et station de charge - Google Patents

Système de dispositif à conduite autonome et station de charge Download PDF

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Publication number
WO2022127525A1
WO2022127525A1 PCT/CN2021/132087 CN2021132087W WO2022127525A1 WO 2022127525 A1 WO2022127525 A1 WO 2022127525A1 CN 2021132087 W CN2021132087 W CN 2021132087W WO 2022127525 A1 WO2022127525 A1 WO 2022127525A1
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WO
WIPO (PCT)
Prior art keywords
signal
boundary
self
magnetic field
encoded
Prior art date
Application number
PCT/CN2021/132087
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English (en)
Chinese (zh)
Inventor
黄存荣
高庆
王宏伟
Original Assignee
南京泉峰科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202011468089.6A external-priority patent/CN114629190A/zh
Priority claimed from CN202011613606.4A external-priority patent/CN114764237A/zh
Priority claimed from CN202011615556.3A external-priority patent/CN114690748A/zh
Priority claimed from CN202011613380.8A external-priority patent/CN114690758A/zh
Priority claimed from CN202011613566.3A external-priority patent/CN114679949B/zh
Application filed by 南京泉峰科技有限公司 filed Critical 南京泉峰科技有限公司
Priority to EP21905454.1A priority Critical patent/EP4226756A4/fr
Publication of WO2022127525A1 publication Critical patent/WO2022127525A1/fr
Priority to US18/311,079 priority patent/US11815901B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the embodiments of the present application relate to garden power tools, for example, to a self-propelled equipment system and a charging station.
  • outdoor gardening cutting tools such as lawn mowers are provided with an operating handle for pushing, and a switch box and a control mechanism are provided on the operating handle close to the gripping part to facilitate the operator to operate and control.
  • the lawn mower relies on the thrust applied by the operator to the operating handle to travel on the ground and perform the cutting operation, and the operator's labor intensity to operate the push lawn mower is very high.
  • self-propelled devices that can walk on their own have also been developed. Since the self-driven device can automatically walk and perform pre-set related tasks without human operation and intervention, it greatly saves manpower and material resources and brings convenience to the operator.
  • the self-propelled equipment system also includes a charging station and a boundary line, the charging station is placed on the ground, the boundary line is connected with the charging station, and the boundary line is connected with the charging station. Operation.
  • the self-propelled device needs to be charged during the working process, it needs to walk along the boundary line before returning to the charging station for charging, which wastes time and affects the work efficiency.
  • the intelligent lawn mower can use sensing technology, positioning technology, boundary recognition technology, full-area coverage path planning technology, autonomous recharging technology and clerk technology to realize fully automatic lawn mowing and maintenance work, without direct human control and operation, and greatly It reduces labor costs and is a tool suitable for lawn mowing and maintenance in home gardens and public green spaces.
  • Intelligent lawn mowers usually use boundary lines to define their working area. When intelligent lawn mowers work, they only work within the working area defined by the boundary lines. However, since the boundary lines of multiple smart lawn mowers are adjacent to each other, the smart lawn mower can receive multiple sets of magnetic field signals including its own first magnetic field signal and the external magnetic field signals of other smart lawn mowers. The transmission length and interval time are uncertain, and the sensing unit of the intelligent lawnmower cannot identify its own first magnetic field signal, which will lead to errors in the intelligent lawnmower's judgment of the position information. For example, if the intelligent lawnmower within the boundary line misidentifies the adjacent external magnetic field signal as its own first magnetic field signal, it can obtain the error information of the intelligent lawnmower outside the boundary line. Therefore, there is an urgent need for a self-driving equipment system and a charging station to reduce misjudgment of magnetic field signals and obtain more accurate position information.
  • a charging station capable of guiding self-driving equipment to dock, comprising: a base plate installed in a work area to fix the self-driving equipment; a first wire surrounding the base plate and connected to a signal generator independently of a boundary line; Two conductors, surrounding the base plate and connected to the signal generator independently of the boundary line and the first conductor; the signal generator sends a guiding signal to the first conductor and/or the first conductor A second wire; wherein, a plurality of regions formed around the first wire and the second wire at least include a first region with a first magnetic field signal, a second region with a second magnetic field signal, and a third magnetic field The third area of the signal.
  • the plurality of regions formed around the first wire and the second wire further include a fourth region having a fourth magnetic field signal.
  • the first magnetic field signal includes a first magnetic field with a first direction and a second magnetic field with a first direction;
  • the second magnetic field signal includes a first magnetic field with a first direction and a second magnetic field with a second direction a magnetic field;
  • the third magnetic field signal includes a first magnetic field with a second direction and a second magnetic field with the first direction.
  • the fourth magnetic field signal includes a first magnetic field with a second direction and a second magnetic field with a second direction.
  • the signal generator includes:
  • a first signal interface connected to the first wire, for outputting a first pilot signal
  • a second signal interface connected to the second guide, for outputting a second guide signal
  • the first pilot signal and the second pilot signal are alternately output.
  • it includes: a second output interface for connecting with a charging interface of the self-driving device to charge the self-driving device;
  • the self-propelled device includes:
  • the lawn mower control module is configured to control the operation of the traveling motor according to the magnetic field signals induced by the plurality of sensors, so as to connect the charging interface of the self-driving device with the second output interface.
  • the self-driving device includes:
  • Walking wheels including left and right walking wheels;
  • a first sensor arranged close to the left travel wheel
  • a second sensor arranged close to the right travel wheel
  • the mower control module is configured to:
  • the traveling wheel is controlled to continue to travel along the route.
  • the third sensor is arranged close to the rear side of the main body
  • the mower control module is configured to:
  • the self-driving device moves along a route, and it is determined that the first sensor is located in the second area, the second sensor is located in the third area, and the third sensor is located in the first area, it is determined that the The self-propelled device is located at a preset position and sends a stop signal to the travel motor to stop the self-propelled device from advancing.
  • the second output interface includes:
  • the first power supply terminal is connected to the first charging terminal of the charging interface
  • the second power supply terminal is connected to the second charging terminal of the charging interface
  • a voltage detection unit configured to detect the voltage value of the first power supply terminal
  • the controller when the voltage value of the first power supply terminal is a preset voltage value and the plurality of sensors are located at the preset positions, enables the second output interface to output electric energy to charge the self-driven device.
  • the self-propelled device is an intelligent lawn mower.
  • a charging station capable of guiding self-driving equipment to dock, comprising: a base plate, mounted on a work area to fix the self-driving equipment; a first wire, surrounding the base plate to form a first wire area; and a second wire, surrounding the base plate A second wire area is formed on the base plate; wherein the first wire area and the second wire area are partially coincident; the charging station is configured to provide a guide signal to the first wire and the second wire The self-propelled device is docked with the charging station to guide the self-propelled device to a preset position of the base plate.
  • first guide line area and the second guide line area partially overlap as the first area;
  • first guide line area includes a first area and a second area;
  • second guide line area The line area includes a first area and a third area;
  • the second area is arranged in parallel with the third area.
  • the first guide line area and the second guide line area are symmetrically arranged with respect to the center line of the bottom plate.
  • the width of the first area is greater than the width of the second area
  • the width of the first region is greater than the width of the third region.
  • a first output interface for outputting a boundary signal to a boundary line
  • a first signal interface independent of the first output interface, connected to the first wire for outputting a first pilot signal a first magnetic field is generated when the first guiding signal flows through the first wire
  • a second signal interface independent of the first output interface, is connected to the second wire for outputting a second guiding signal ;
  • a second magnetic field is generated; the first guiding signal and the second guiding signal are output alternately.
  • the second output interface is used for connecting with the charging interface of the self-driving device to charge the self-driving device;
  • the self-driving device includes: a walking motor; a plurality of sensors for sensing the first Magnetic field directions of the plurality of regions formed around the wire and the second wire; a lawnmower control module for controlling the operation of the walking motor according to the magnetic field directions induced by the plurality of sensors to charge the self-driven device
  • the interface is docked with the second output interface.
  • the self-driving device includes:
  • Walking wheels including left and right walking wheels;
  • a first sensor arranged close to the left travel wheel
  • a second sensor arranged close to the right travel wheel
  • the mower control module is configured to:
  • the traveling wheel is controlled to continue to travel along the route.
  • the third sensor is arranged close to the rear side of the main body
  • the mower control module is configured to:
  • the self-driving device moves along a route, and it is determined that the first sensor is located in the second area, the second sensor is located in the third area, and the third sensor is located in the first area, it is determined that the The self-propelled device is located at the preset position and sends a stop signal to the traveling motor to stop the self-propelled device from advancing.
  • the second output interface includes:
  • the first power supply terminal is connected to the first charging terminal of the charging interface
  • the second power supply terminal is connected to the second charging terminal of the charging interface
  • a voltage detection unit configured to detect the voltage value of the first power supply terminal
  • the controller when the voltage value of the first power supply terminal is a preset voltage value and the self-driven device is located at the preset position, enables the second output interface to output electrical energy to charge the self-driven device.
  • the self-propelled device is an intelligent lawn mower.
  • a self-driving equipment system comprising: self-driving equipment, which can automatically walk in a work area to perform operations; a charging station, which can guide the self-driving equipment to dock to charge the self-driving equipment; the charging station comprises: a base plate , installed in the working area to fix the self-driven device; a first wire, around the base plate and connected to the signal generator independently of the boundary line; a second wire, around the base plate and independent of the boundary The wire and the first wire are connected to the signal generator; the signal generator sends a signal to the first wire and/or the second wire; wherein the first wire and the second wire
  • the surrounding areas include at least a first area having a first magnetic field signal, a second area having a second magnetic field signal, and a third area having a third magnetic field signal.
  • the present application provides a charging station and a self-driving device system for guiding self-driving equipment to dock, which can improve the reliability of charging docking and improve the efficiency of returning the self-driving equipment to the charging station for charging.
  • a self-propelled equipment system and a charging station comprising: a boundary line for planning a work area of the self-propelled equipment; a self-propelled device for automatically walking in the work area to perform operations; a charging station electrically connected with the boundary line for generating coding the boundary signal and sending the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate a first magnetic field signal; the charging station includes: a signal transmitter for coding and generating the coded boundary signal in a preset digital modulation and coding manner; The self-driving device receives the external magnetic field signal, and obtains the decoded boundary signal in a preset decoding method; when the decoded boundary signal matches the encoded boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoded boundary signal when it flows through the boundary line Generated first magnetic field signal.
  • a self-propelled equipment system and a charging station comprising: a boundary line, planning a working area of the self-driving equipment; self-driving equipment, automatically walking in the working area to perform operations; a charging station, electrically connected with the boundary line, to generate a coding boundary signal and send the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate a first magnetic field signal; the charging station includes: a signal transmitter, used for coding and generating the coded boundary signal in a preset quadrature amplitude modulation coding mode; The self-driving device receives the external magnetic field signal, and obtains the decoded boundary signal in a preset decoding method; when the decoded boundary signal matches the encoded boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoded boundary signal when it flows through the boundary line Generated first magnetic field signal.
  • a self-driving equipment system comprising: a boundary line for planning a working area of the self-driving equipment; a self-driving equipment for automatically walking in the working area to perform operations; a charging station, which is electrically connected to the boundary line for generating codes The boundary signal and the coded boundary signal are sent to the boundary line; the coded boundary signal flows through the boundary line to generate a magnetic field signal; the charging station includes: a signal transmitter for encoding and generating the coded boundary signal with a preset coding protocol; self-driving device, receiving The external magnetic field signal is obtained, and the decoded boundary signal is obtained by a preset decoding method; when the decoded boundary signal matches the encoded boundary signal, it is determined that the external magnetic field signal received from the driving device is the first magnetic field generated when the encoded boundary signal flows through the boundary line Signal.
  • a self-propelled equipment system and a charging station comprising: a boundary line for planning a work area of the self-propelled equipment; a self-propelled device for automatically walking in the work area to perform operations; a charging station electrically connected with the boundary line for generating coding the boundary signal and sending the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate the first magnetic field signal; the charging station includes: a signal transmitter for coding and generating the coded boundary in a preset relative phase shift keying mode signal; the self-driving device receives the external magnetic field signal and obtains the decoding boundary signal in a preset decoding method; when the decoding boundary signal matches the encoding boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoding boundary signal flowing through the boundary The first magnetic field signal generated when the line is The above technical solution reduces the occurrence of misidentifying other external magnetic field signals as the first magnetic field signal of the self, reduces the misjudgment of the magnetic field
  • FIG. 1 is a structural diagram of a self-driving device system of an embodiment
  • Fig. 2 is the circuit block diagram of the intelligent lawn mower as one of the embodiments
  • FIG. 3 is a circuit block diagram of a charging station as one of the embodiments.
  • Fig. 4 is the specific circuit diagram of the boundary power supply module shown in Fig. 3;
  • FIG. 5 is a partial circuit block diagram of an intelligent lawn mowing system as one of the embodiments.
  • FIG. 6 is a partial circuit block diagram of the smart lawn mowing system of another embodiment
  • FIG. 7 is a circuit block diagram of a charging station as another embodiment
  • FIG. 8 is a circuit block diagram of a charging station as another embodiment
  • FIG. 9 is a circuit block diagram of a charging station as another embodiment.
  • FIG. 10 is a specific circuit diagram of the first voltage conversion unit shown in FIG. 9;
  • FIG. 11 is a circuit block diagram of a charging station as another embodiment
  • FIG. 12 is a structural diagram of a charging station as an embodiment
  • Fig. 13 is a schematic diagram of the bottom plate of the charging station shown in Fig. 12;
  • FIG. 14 is a diagram showing the relationship between the smart lawn mower and the bottom plate of the charging station when the charging station guides the smart lawn mower as an embodiment
  • 15 is a diagram showing the relationship between the intelligent lawnmower and the bottom plate of the charging station when the charging station guides the intelligent lawnmower as another embodiment
  • FIG. 16 is a roadmap for guiding a smart lawn mower by a charging station as an embodiment
  • 17 is a diagram showing the relationship between the intelligent lawnmower and the bottom plate of the charging station when the charging station guides the intelligent lawnmower as another embodiment
  • 19 is a circuit block diagram of a charging station as another embodiment
  • 20 is a schematic structural diagram of a self-driving device system as an embodiment
  • FIG. 21 is a schematic diagram of at least three magnetic field signals that can be received by a receiving sensor of one of the self-driven device systems when the three self-driven device systems of FIG. 20 work together;
  • Figure 22 is a schematic diagram of magnetic field directions inside and outside the boundary line, as an embodiment
  • 23 is a schematic diagram of encoding in a preset encoding protocol as another embodiment
  • FIG. 24 is a schematic diagram of the transmission format of the adjacent charging station code as another embodiment
  • Fig. 25a is a schematic diagram of amplitude encoding and frequency encoding as another embodiment
  • Fig. 25b is a schematic diagram of absolute phase encoding as another embodiment
  • Fig. 25c is a schematic diagram of relative phase encoding as another embodiment ;
  • 26 is a schematic diagram of decoding of pulse code modulation as another embodiment
  • FIG. 27 is a schematic diagram of quadrature amplitude modulation coding as another embodiment
  • FIG. 28 is a schematic diagram of relative phase shift keying encoding as another embodiment.
  • the intelligent lawn mower system 100 includes an intelligent lawn mower 10 , a charging station 20 and a boundary line 30 .
  • the present embodiment relates to a smart lawn mower, it should be understood that the present application is not limited to the disclosed embodiment, but can be applied to other types of self-propelled equipment that can automatically walk in the work area to perform operations, including but not limited to Smart lawn mowers, snow blowers, etc.
  • the intelligent lawn mower 10 includes a housing 11 extending in the longitudinal direction, at least one wheel (not shown), which is arranged at the bottom of the housing 11 and can be rotated; a driving module connected to the wheel provides driving force to drive the wheel, the wheel Including front wheel and rear wheel, optional, make the front wheel as a universal wheel, the rear wheel as a drive wheel, the number of rear wheels is two, the number of front wheels can be two, and can also be set to one or zero a battery pack 12, which provides power for the smart lawn mower 10; a power supply circuit, which is electrically connected to the battery pack and the drive module, so that the power output from the battery pack is supplied to the drive module to drive the at least one wheel.
  • the smart lawn mower 10 also includes a cutting blade (not shown) for cutting grass or vegetation.
  • the driving module includes a traveling motor and a cutting motor, wherein the traveling motor is used to provide torque to the wheels, thereby driving the intelligent lawn mower 10 to travel; the cutting motor is used to provide torque to the cutting blade, thereby driving the cutting blade Rotate for mowing.
  • the drive module may include only one motor that drives both the wheel and the cutting blade.
  • FIG. 2 shows a circuit block diagram of the smart lawn mower 10 as one of the embodiments.
  • the smart lawn mower 10 includes a charging interface 13 , a power supply sub-module 14 , a battery pack 12 , a lawn mower control module 15 , a first wireless communication module 16 and a drive module 17 .
  • the charging interface 13 is used for connecting with the charging station 20 to access electric energy to charge the smart lawn mower 10 .
  • the charging interface 13 is provided with a first charging terminal 131 and a second charging terminal 132 .
  • the power supply sub-module 14 is used to convert the electrical energy from the charging interface 13 into the power supply voltage and power supply current output of the adapted battery pack 12 .
  • the power supply sub-module 14 is connected to the charging interface 13 .
  • the power supply sub-module 14 steps down the voltage of the power from the charging interface 13 to 18V.
  • power sub-module 14 includes a DC/DC conversion circuit.
  • the battery pack 12 is used to provide electrical power to the smart lawn mower 10 .
  • the battery pack 12 is at least used to supply power to the drive module 17, and the battery pack 12 can also supply power to other electronic components or electronic components on the smart lawn mower 10, for example, the lawn mower control module 15, the first A wireless communication module 16 is powered.
  • the battery pack 12 includes one or more removable battery packs for providing a source of energy to the smart lawn mower 10, at least one battery pack is further configured to provide a source of energy for another power tool .
  • the battery pack includes a plurality of battery cells connected in series, in parallel, or in a combination of series and parallel. The voltage of the cell unit is 4.2V.
  • the mower control module 15 is used to control at least the cutting motor and/or the traveling motor.
  • the smart lawn mower 10 further includes a charging control module 18 for adjusting the input voltage and output voltage of the power supply sub-module 14 to fit the battery pack 12 .
  • the charging control module 18 is also configured to adjust the input current and output current of the power supply sub-module 14 to suit the battery pack 12 .
  • the lawn mower control module 15 includes a control chip, such as an MCU, an ARM, and the like.
  • the first wireless communication module 16 is used to communicate with the charging station 20 to transmit data, information, instructions and the like from the lawn mower control module 15 .
  • the first wireless communication module 16 includes a WIFI communication module, and in other embodiments, it includes a Bluetooth communication module or a ZigBee communication module, as long as the first wireless communication module 16 can be established with the charging station 20 The purpose of connecting wirelessly and being able to transmit data, information, commands, etc. is sufficient.
  • the boundary line 30 surrounds the working area for planning the intelligent lawn mower 10 , wherein the area within the boundary line 30 is the working area and the area outside the boundary line 30 is the non-working area.
  • the charging station 20 is fixed on the plane and is electrically connected to the boundary line 30.
  • the charging station 20 generates a boundary signal and sends it to the boundary line 30.
  • a magnetic field is generated. Mowing is carried out by walking in the work area described above. It can be understood that the boundary signal is a current signal.
  • the charging station 20 is also used for the smart lawn mower 10 to return to replenish energy when the energy is insufficient.
  • FIG. 3 shows a circuit block diagram of the charging station 20 as one of the embodiments.
  • the charging station 20 includes an input interface 21 , a first output interface 22 , a boundary power supply module 23 , a second output interface 24 , an auxiliary power supply module 25 , a charging station control module 26 and a second wireless communication module 27 .
  • the first output interface 22 is electrically connected to the boundary line 30 to output boundary signals.
  • the second output interface 24 is used for connecting with the charging interface 13 of the smart lawn mower 10 to charge the smart lawn mower 10 .
  • the input interface 21 is used to connect electric energy.
  • the input interface 21 is electrically connected to the charger.
  • the charger includes an AC input interface, an AC-DC conversion circuit and a DC output interface.
  • the AC power input interface is used to connect to AC power.
  • the AC power input interface is connected to a power plug, and the power plug is inserted into an AC power socket to access AC mains power.
  • the value range of the AC power connected to the AC power input port is 110V to 130V or 210V to 230V.
  • the AC-DC converting circuit is electrically connected with the AC input interface to convert the AC to DC; the DC output interface is electrically connected with the AC-DC converting circuit to output the DC.
  • the input interface 21 and the DC power output interface are electrically connected to supply DC power to the charging station 20 .
  • the input interface 21 includes an input positive terminal 211 and an input negative terminal 212.
  • the input positive terminal 211 is used to connect the positive pole of the direct current
  • the input negative terminal 212 is used to connect to the negative pole of the direct current.
  • the auxiliary power supply module 25 is at least used to supply power to the charging station control module 26 and/or the second wireless communication module 27 , and the auxiliary power supply module 25 can also supply power to other electronic components or electronic components on the charging station 20 .
  • the auxiliary power supply module 25 is connected to the input interface 21 to convert the voltage connected to the input interface 21 into a power supply voltage output suitable for the charging station control module 26 and/or the second wireless communication module 27 .
  • the auxiliary power supply module 25 drops the voltage from the input interface 21 to 15V to power the charging station control module 26 and drops the power supply voltage to 3.2V to power the second wireless communication module 27 .
  • the second wireless communication module 27 is used for wirelessly communicating with the smart lawn mower 10 to transmit data, information, instructions and the like, and the second wireless communication module 27 is communicably connected to the first wireless communication module.
  • the second wireless communication module 27 includes a WIFI communication module, and in other embodiments, it includes a Bluetooth communication module or a ZigBee communication module, as long as the second wireless communication module 27 can establish a wireless connection with the charging station The purpose of connecting and being able to transmit data, information, commands, etc. is sufficient.
  • the boundary power supply module 23 is connected in series between the input interface 21 and the first output interface 22, and is used to convert the direct current connected to the input interface 21 into a boundary signal for output. As shown in FIG. 4 , the boundary power supply module 23 includes a first voltage conversion circuit 231 and an isolation circuit 232 .
  • the first voltage conversion circuit 231 is electrically connected to the input interface 21 and is used for converting the electric energy connected to the input interface 21 into the first alternating current. In some embodiments, the first voltage conversion circuit 231 is configured to convert the direct current connected to the input interface 21 into the first alternating current.
  • the first voltage conversion circuit 231 includes a first capacitor C1 , a second capacitor C2 , a first switch transistor Q1 , a second switch transistor Q2 and a first voltage output port 2311 .
  • the first voltage output port 2311 is used for outputting the first alternating current. Specifically, the first voltage output port 2311 includes a first output terminal 2311a and a second output terminal 2311b.
  • the first capacitor C1 and the second capacitor C2 are connected in series with the input interface 21. Specifically, one end of the first capacitor C1 is connected to the input positive terminal 211, and the other end of the first capacitor C1 is connected to one end of the second capacitor C2. The other end of the first capacitor C1 is also connected to the first output terminal 2311 a, and the other end of the second capacitor C2 is connected to the negative input terminal 212 .
  • the first switch tube Q1 and the second switch tube Q2 are connected in series with the input interface 21, wherein the drain of the first switch tube Q1 is connected to the input positive terminal 211, and the source of the first switch tube Q1 is connected to the second switch tube
  • the drain of Q2 is connected, the source of the first switch Q1 is also connected to the second output terminal 2311b, and the source of the second switch Q2 is connected to the input negative terminal 212.
  • the first switch transistor Q1 and the second switch transistor Q2 convert the electrical energy input from the input interface 21 into the first alternating current by changing their respective on-off states.
  • the gate of the first switch tube Q1 and the gate of the second switch tube Q2 are respectively connected to the charging station control module 26 , and the first switch tube Q1 and the second switch tube Q2 operate at a certain frequency according to the control signal output by the charging station control module 26 .
  • the on or off state is changed, so that the electrical energy input by the input interface 21 is converted into the first alternating current.
  • the current forms a loop through the first switch tube Q1, the second output terminal 2311b, the first output terminal 2311a, and the second capacitor C2;
  • the second switch When the tube Q2 is turned on the current forms a loop through the first capacitor C1, the first output terminal 2311a, the second output terminal 2311b and the second switch tube Q2. Therefore, by changing the on-off states of the first switch transistor Q1 and the second switch transistor Q2, the DC power connected to the input interface 21 is converted into the first AC power and output from the first voltage output port 2311.
  • the isolation circuit 232 is connected between the first voltage conversion circuit 231 and the first output interface 22, and is used to unidirectionally transmit the first alternating current to the boundary line 30 through the first output interface 22, wherein the first output interface 22 includes a first The boundary line terminal 221 and the second boundary line terminal 222 .
  • the isolation circuit 232 is connected to the first voltage output port 2311 , and converts the first alternating current into a boundary signal and transmits it unidirectionally to the boundary line 30 through the first output interface 22 .
  • the isolation circuit 232 includes a transformer 2321, a third capacitor C3 and a first inductor L1.
  • the transformer includes a second inductor L2 and a third inductor L3, the second inductor L2 is connected in series between the first output terminal 2311a and the second output terminal 2311b; the third inductor L3 is coupled to the second inductor L2, and the third inductor L3 It is connected in series between the first boundary line terminal 221 and the second boundary line terminal 222 , the first inductor L1 is connected in series between one end of the third inductor L3 and the first output interface 22 , and the third capacitor is connected with the first boundary line terminal 221 and the second boundary line terminal 222 .
  • the third inductor L3 induces the second alternating current and passes through the first side The boundary line terminal 221, the boundary line 30, and the second boundary line terminal 222 return to the third inductor L3.
  • the third inductance L3 induces the second alternating current through the second boundary line
  • the 30 terminal, the boundary line 30, and the first boundary line terminal 221 return to the third inductor L3. Therefore, the first output interface 22 is configured to generate the second alternating current signal according to the first alternating current, and the second alternating current signal is the boundary signal.
  • the first inductor L1 and the third capacitor C3 cooperate to filter the second alternating current signal.
  • the isolation circuit 232 is arranged between the first voltage output port 2311 and the first output interface 22, and the first alternating current generated by the first voltage output port 2311 is unidirectionally transmitted to the boundary line 30 through the first output interface 22, which can prevent lightning strikes When the lightning strikes the boundary line 30, the impact on the charging station and the external power supply is reduced, thereby reducing the damage to the intelligent mowing system caused by lightning strikes and improving the safety of the intelligent mowing system.
  • the self-driven device system further includes a current detection module and a voltage detection module.
  • the current detection module is used to detect the charging current of the charging circuit.
  • the voltage detection module is used to detect the first voltage of the charging interface.
  • the control module is configured to obtain the first resistance value based on the charging current and the first voltage, and reduce the charging current when the first resistance value is greater than or equal to the preset resistance value.
  • the current detection module can be set in the charging station or in the self-driving device.
  • FIG. 5 shows a partial circuit block diagram of the smart lawn mowing system 100 as one of the embodiments.
  • the charging station 40 includes: a power module 41 , a charging station voltage conversion module 42 , a second wireless communication module 43 , a first current detection module 44 and a second output interface 45 .
  • the second output interface 45 is connected with the charging interface 13 of the intelligent lawn mower 10 to form a charging circuit for charging the intelligent lawn mower 10 .
  • the second output interface 45 includes a first power supply terminal 451 and a second power supply terminal 452 .
  • the power supply module 41 is used for connecting to AC power to supply power to the charging station.
  • the power module 41 includes an AC plug and a peripheral circuit electrically connected to the AC plug.
  • the AC plug is inserted into the AC socket to connect to the AC mains, so as to provide a power source for the charging station.
  • the power supply module 41 includes other structural forms and peripheral circuits that can be connected to AC power, for example, the AC power plug is connected to a movable substation to connect to the AC power. It should be noted that, the power module 41 only needs to be able to connect to alternating current, and the specific structure and form are not limited herein.
  • the value range of the alternating current that the power module 41 can access is 110V-130V or 210V-230V.
  • the charging station voltage conversion module 42 is used to convert the alternating current connected to the power supply module 41 into direct current for output.
  • the charging station voltage conversion module 42 includes a rectifier circuit and a filter capacitor.
  • a rectifier circuit is used to convert alternating current to direct current output.
  • the rectifier circuit includes a rectifier bridge.
  • the first current detection module 44 is used to detect the first charging current flowing through the charging circuit.
  • the first current detection module 44 is a current sensor.
  • the first current detection module 44 is a current detection circuit.
  • the first current detection module 44 is also configured to send the detected first charging current to the smart lawn mower through the second wireless communication module 43 .
  • the first current detection module 44 is disposed in the smart lawn mower 10 and connected to the lawn mower control module 15, and is used for detecting the first charging current flowing through the charging circuit.
  • the smart lawn mower 10 further includes a first voltage detection module 19 for detecting the first voltage of the charging interface 13 .
  • the first voltage detection module 19 is used to detect the voltage between the first node and the second node in the charging circuit, and on the charging circuit, the first node is located between the first power supply terminal and the smart lawn mower ,
  • the second node is located between the second power supply terminal and the smart lawn mower, and the first voltage is marked as the voltage U1 between two points on the first charging circuit as shown in FIG. 5 .
  • the first node is located between the first charging terminal and the power supply sub-module
  • the second node is located between the second charging terminal and the power supply sub-module
  • the first voltage is on the first charging circuit as shown in FIG. 5 . Voltage U2 between two points.
  • the lawn mower control module 15 is configured to obtain a first resistance value based on the first charging current and the first voltage; when the first resistance value is greater than or equal to a preset resistance value, reduce the first charging current of the first charging circuit.
  • the lawnmower control module is configured to perform the following operations:
  • the first charging current detected by the first current detection module 44 of the charging station that is, the first current value Ia and the first voltage from the first voltage detection module 19.
  • the voltage value of the first voltage is the first voltage value Ua;
  • the voltage value of the first voltage is the first voltage value Ub ;
  • a third current control signal is sent to the charging control module to reduce the first charging current of the first charging circuit.
  • the range of the preset resistance value is: 0.1 ⁇ -0.5 ⁇ .
  • the preset resistance value may include a first value and a second value, and the first value is less than the value.
  • the charging station reduces the first charging current; if the first resistance value is greater than or equal to the second value, the charging station stops outputting electrical energy, that is Decrease the first charge current to 0.
  • the charging station 40 Since the charging station 40 is usually installed outdoors and is easily exposed to wind and rain, the first power supply terminal 452 and the second power supply terminal 453 in the second output interface 45 are easily oxidized, resulting in increased resistance. In this way, the smart lawn mower 10 can monitor the first power supply terminal and the second power supply terminal of the charging station and the oxidation degree of the first charging terminal 131 and the second charging terminal 132 of the smart lawn mower by calculating the first resistance.
  • the charging station 40 can reduce the first charging current of the first charging circuit in time, so as to prevent the second output interface 45 and the charging interface from heating up and causing danger after docking, This increases the safety of the charging station for charging the smart lawn mower.
  • first current detection module 44 may also be disposed in the smart lawn mower 10, as long as the first current detection module 44 can achieve the purpose of detecting the first charging current flowing through the first charging circuit.
  • FIG. 6 shows a circuit block diagram of the smart lawn mowing system 100 of another embodiment.
  • the smart lawn mowing system 100 further includes a charger 101 , and the charger 101 is used to provide electric power to the charging station 50 .
  • the adapter interface 1011 of the charger 101 is connected to the input interface 51 of the charging station 50 and the second output interface 55 of the charging station 50 It is connected with the charging interface 13 of the smart lawn mower 10 to form a charging circuit for charging the smart lawn mower 10 .
  • the charger 101 includes a power module 1012 , a charger voltage conversion module 1013 and an adapter interface 1011 .
  • the adapter interface is used to electrically connect with the charging station to output electric energy, and the adapter interface is provided with a positive adapter terminal 1011a and a negative adapter terminal 1011b.
  • the power supply module 1012 is used for accessing the AC power to supply power to the charging station 50 .
  • the power module 1012 includes an AC plug and peripheral circuits electrically connected to the AC plug. Wherein, the AC plug is inserted into the AC socket to connect to the AC mains, so as to provide a power source for the charging station.
  • the power supply module includes other structural forms and peripheral circuits that can be connected to alternating current, for example, the alternating current plug is connected to a movable substation to connect to the alternating current. It should be noted that the power module only needs to be able to connect to alternating current, and the specific structure and form are not limited here.
  • the value range of the AC power that the power module can access is 110V to 130V or 210V to 230V.
  • the charger voltage conversion module 1013 is used to convert the alternating current connected to the power supply module 1012 into direct current for output.
  • the charger voltage conversion module 1013 includes a rectifier circuit and a filter capacitor.
  • a rectifier circuit is used to convert alternating current to direct current output.
  • the rectifier circuit includes a rectifier bridge.
  • the charger voltage conversion module 1013 further includes a DC-DC conversion circuit.
  • the charging station further includes an input interface 51 and a second voltage detection module 56 .
  • the input interface 51 is used for accessing the power provided by the charger 101 . Specifically, the input interface 51 is electrically connected to the adapter interface 1011 of the charger 101 .
  • the input interface 51 includes an input positive terminal 511 and an input negative terminal 512.
  • the input positive terminal 511 is used to connect the positive pole of the DC power, which is connected to the positive terminal 1011a of the adapter;
  • the negative terminal 1011b is connected.
  • the second voltage detection module 56 is used to detect the second voltage of the input interface 51 .
  • the second voltage detection module 56 is used to detect the voltage between the third node and the fourth node in the charging circuit, and on the charging circuit, the third node is located between the adaptation positive terminal 1011a and the charging station, Correspondingly, the fourth node is located between the adapted negative terminal 1011b and the charging station, and the second voltage is the voltage U3 between the two points on the charging circuit as shown in FIG. 6 .
  • the third node is located between the input positive terminal 511 and the first power supply terminal 551, the fourth node is located between the input negative terminal 512 and the second power supply terminal 552, and the second voltage is the first voltage shown in FIG. 6 .
  • Two voltage U4 between two points on the charging circuit.
  • the second voltage detection module 56 is also configured to transmit the second voltage to the smart lawn mower 10 through the second wireless communication module 53 .
  • the first current detection module 54 is used to detect the second charging current flowing through the charging circuit.
  • the first current detection module 54 is a current sensor.
  • the first current detection module 54 is a current detection circuit.
  • the first current detection module 54 is also configured to send the detected second charging current to the smart lawn mower 10 through the second wireless communication module 53 .
  • the first current detection module 54 is disposed in the smart lawn mower 10 and connected to the lawn mower control module 15, and is used for detecting the first charging current flowing through the charging circuit.
  • the second wireless communication module 53 is configured to be communicatively connected to the first wireless communication module 16 of the smart lawn mower 10 to connect the second voltage detected by the second voltage detection module 56 with the first voltage detected by the first current detection module 54 Two charging currents are sent to the lawn mower control module 15 .
  • the lawn mower control module 15 is configured to obtain a second resistance value based on the second charging current and the second voltage; when the second resistance value is greater than or equal to the second preset resistance value, reduce the second charging current of the second charging circuit .
  • the lawnmower control module 15 is configured to perform the following operations:
  • the voltage value of the first voltage is the first voltage value Ua and the second voltage from the second voltage detection module 56, where the voltage value of the second voltage is the second voltage value Va;
  • the voltage value of the first voltage is the third voltage value Ub and the fourth voltage from the second voltage detection module 56, where the voltage value of the second voltage is the fourth voltage value Vb;
  • the range of the second preset resistance value is: 1 ⁇ -5 ⁇ .
  • a third current control signal is sent to the charging control module 18 to reduce the second charging current of the second charging circuit.
  • the lawnmower control module 15 is further configured to:
  • a third current control signal is sent to the charging control module 18 to reduce the second charging current of the second charging loop.
  • the range of the fourth preset resistance value is: 0.1 ⁇ -0.5 ⁇ .
  • the charging station 50 Since the charging station 50 is usually installed outdoors and is easily exposed to wind and rain, the first power supply terminal 551 and the second power supply terminal 552 in the second output interface 55 and the input positive terminal 511 and the input The negative terminal 512 is easily oxidized, resulting in an increase in resistance.
  • the smart lawn mower 10 can monitor the first power supply terminal 551 and the second power supply terminal 552 of the charging station, as well as the first charging terminals 131 and 131 of the smart lawn mower 10 by calculating the first resistance, the second resistance or the third resistance.
  • the oxidation degree of the second charging terminal 132 can also monitor the oxidation degree of the adapter positive terminal 1011a, the adapter negative terminal 1011b, and the input positive terminal 511 and the input negative terminal 512 of the charging station.
  • the charging station 50 can reduce the first charging current of the first charging circuit in time to prevent the second output interface 55 and the charging interface 13 It is dangerous to heat up after docking, thereby improving the safety of charging the smart lawn mower 10 by the charging station.
  • FIG. 7 shows a circuit block diagram of a charging station 60 as another embodiment.
  • the charging station of the embodiment shown in FIG. 7 is different from the charging station 20 of the embodiment shown in FIG. 3 in that the charging station 60 further includes: a charging and power supply module 68 , which is arranged on the input interface 61 and the second output Between the interfaces 64, the electrical energy connected by the input interface 61 is converted into a third alternating current.
  • the voltage range of the third alternating current is 20V-60V.
  • the input interface 61 is connected to direct current.
  • the input interface 61 is electrically connected to a charger, and the charger is used for converting AC commercial power into DC power and outputting it to the input interface 61 .
  • the charger includes an AC input interface, an AC-DC conversion circuit and a DC output interface.
  • the AC power input interface is used for accessing AC power.
  • the AC power input interface is connected to a power plug, and the power plug is inserted into an AC power socket to access AC mains power.
  • the value range of the AC power connected to the AC power input port is 110V to 130V or 210V to 230V.
  • the AC-DC converting circuit is electrically connected with the AC input interface to convert the AC to DC; the DC output interface is electrically connected with the AC-DC converting circuit to output the DC.
  • the input interface 61 and the DC power output interface are electrically connected to connect the DC power to the charging station. In other embodiments, the input interface 61 is connected to alternating current.
  • the input interface 61 is configured as an AC plug and a peripheral circuit electrically connected to the AC plug. Wherein, the AC plug is inserted into the AC socket to connect to the AC mains, so as to provide a power source for the charging station.
  • the input interface 61 can also be configured into other structural forms and peripheral circuits that can be connected to the alternating current, for example, the alternating current plug can be connected to a movable substation to connect to the alternating current.
  • FIG. 8 shows a circuit block diagram of a charging station as another embodiment.
  • the charging and power supply module 68 includes a first voltage converting unit 681 for converting the direct current connected to the input interface 61 into the second alternating current.
  • FIG. 9 shows a circuit block diagram of a charging station 60 as another embodiment.
  • the charging station further includes a second voltage conversion unit.
  • the second voltage conversion unit 682 is configured to convert the fourth alternating current with a fourth voltage value connected to the input interface 61 into a direct current output, wherein the third voltage value is smaller than the fourth voltage value.
  • the second voltage conversion unit 682 includes a rectifier circuit and a filter capacitor.
  • the rectifier circuit is used to convert the fourth alternating current into direct current for output.
  • the rectifier circuit includes a rectifier bridge; the first voltage conversion unit 681 is connected to the second output interface 64 and used to convert the direct current output from the second voltage conversion unit 682 into a third voltage conversion unit 681. alternating current.
  • the first voltage conversion unit 681 includes a full-bridge inverter circuit, wherein the full-bridge inverter circuit includes four bridge arms, and two non-adjacent bridge arms form a pair, The four bridge arms are divided into two pairs, the paired bridge arms are turned on at the same time, and the two pairs of bridge arms are turned on alternately.
  • the on-off of the four bridge arms is respectively controlled by the third switch tube Q3, the fourth switch tube Q4, the fifth switch tube Q5 and the sixth switch tube Q6.
  • the drain of the third switch tube Q3 is connected to the positive pole of the direct current of the input positive terminal of the input input interface, and the source of the third switch tube Q3 is connected to the first power supply terminal of the second output port;
  • the drain is connected to the source of the third switch tube Q3, and the source is connected to the input negative terminal of the negative input interface of the input DC;
  • the drain of the fifth switch Q5 is connected to the input positive terminal of the positive input interface of the input DC, and the source is connected to the The second power supply terminal of the two output interfaces is connected;
  • the drain of the sixth switch Q6 is connected to the source of the fifth switch Q5, and the drain is connected to the input negative terminal of the negative input interface of the DC input.
  • the charging and power supply module 68 may also include other forms of inverter circuits, such as half-bridge inverter circuits, which are not limited herein.
  • the third switch tube Q3 and the sixth switch tube Q6 When the third switch tube Q3 and the sixth switch tube Q6 are turned on at the same time, the current flows through the third switch tube Q3, the smart lawn mower connected to the second output interface, and the sixth switch tube Q6 to form a loop together; When the fourth switch tube Q4 and the fifth switch tube Q5 are turned on at the same time, the current forms a loop through the fifth switch tube Q5, the smart lawn mower connected to the second output interface, and the fourth switch tube Q4. In this way, the third switch transistor Q3, the fourth switch transistor Q4, the fifth switch transistor Q5 and the sixth switch transistor Q6 convert the direct current into the third alternating current by changing their respective on-off states.
  • the gates of the third switch transistor Q3, the fourth switch transistor Q4, the fifth switch transistor Q5 and the sixth switch transistor Q6 are respectively connected to the charging station control module 66, and the conduction is changed at a certain frequency according to the control signal output by the charging station control module 66. In the on or off state, the electrical energy output by the second output interface 64 is converted into the third alternating current.
  • the power supply sub-module 14 further includes an AC-DC conversion circuit, so as to convert the third AC power connected to the charging interface 13 into DC power and provide the battery pack 12 .
  • FIG. 11 shows a circuit block diagram of a charging station 60 as another embodiment.
  • the charging and power supply module includes a third voltage conversion unit.
  • the third voltage conversion unit 683 is configured to convert the third alternating current with three electrical voltage values connected to the input interface 61 into a third alternating current with a third voltage value.
  • the charging and power supply module to make the second output interface output the third alternating current, the magnitude and direction of the current passing through the first power supply terminal and the second power supply terminal of the second output interface are constantly changed, and the first power supply terminal and the second power supply terminal can be reduced.
  • the oxidation rate of the power supply terminals thereby extending the life of the charging station and improving the safety of the smart lawn mower system.
  • FIG. 12 shows a structural diagram of a charging station 70 ( 20 , 40 , 50 , 60 ) as an embodiment.
  • the charging station 70 can also guide the smart lawn mower 10 to dock to provide electrical energy for the smart lawn mower 10 Charge.
  • the charging station 70 includes: a second output interface 71 and a base plate 72 .
  • the second output interface is used to connect with the charging interface 13 of the smart lawn mower 10 to output electrical energy.
  • the second output interface 71 includes: a first power supply terminal 711 connected to the first charging terminal 131 of the charging interface 13 and a second power supply terminal 712 connected to the second charging terminal 132 of the charging interface 13 .
  • the base plate 72 is installed in the work area to fix the smart lawn mower 10 .
  • the base plate 72 is substantially the same size as the smart lawn mower 10 for holding the smart lawn mower 10 during charging.
  • the area covered by the base plate 72 defines the docking area of the smart lawn mower 10 with the charging station.
  • the base plate 72 is used to guide the smart lawn mower 10 to identify and access the location of the charging station.
  • the charging station 70 also includes a first lead 73 and a second lead 74 .
  • the first wire 73 and the second wire 74 are respectively surrounded on the bottom plate 72 . Referring to FIG. 13 , the first wires 73 and the second wires 74 are surrounded to form a plurality of regions.
  • the first wire 73 surrounds the base plate 72 to form a first wire area
  • the second wire 74 surrounds the base plate 72 to form a second wire area, wherein the first wire area and the second wire area partially overlap.
  • the first guide line area includes the first area and the second area
  • the second guide line area includes the first area and the third area
  • the second area and the third area are arranged in parallel.
  • the first guide wire area surrounds the bottom plate 72 in an L-shape
  • the second guide wire area and the first guide wire area are symmetrically arranged with respect to the center line l1 of the bottom plate 72, wherein the first guide wire area
  • the width of the area is greater than the width of the second area, and the width of the first area is greater than the width of the third area.
  • the purpose of setting the first wire 73 and the second wire 74 in this way is mainly to guide the intelligent lawn mower 10 to the preset position of the docking area in the bottom plate 72 so that the intelligent lawn mower 10 can be docked with the charging station 70, that is, the charging station
  • the second output interface 71 of 70 is docked with the charging interface 13 of the smart lawn mower 10 .
  • the charging station 70 also includes a signal generator 75 for connecting with the first wire 73 and the second wire 74, respectively, to output a steering signal to the first wire 73 and/or the second wire 74, and the guiding signal flows through the first wire 73 and the second wire 74 to generate a magnetic field.
  • the first wire 73 is connected to the signal generator independently of the boundary line; the second wire 74 is connected to the signal generator independently of the first wire 73 and the boundary line.
  • the signal generator includes a first signal interface 751 and a second signal interface 752, and the first signal interface 751 and the second signal interface 752 are independent of the first output interface 22 (62).
  • the first signal interface 751 is connected to the first wire 73 for outputting a first guiding signal, and the first guiding signal generates a first magnetic field when it flows through the first wire 73;
  • the second signal interface 752 is connected to the second wire 74, It is used for outputting a second guiding signal, and a second magnetic field is generated when the second guiding signal flows through the second wire 74 .
  • the pilot signal is a current signal.
  • the first pilot signal and the second pilot signal are alternately output.
  • the magnetic field signals in the multiple regions formed around the first wire 73 and the second wire 74 are different. Therefore, the plurality of regions formed around the first wire 73 and the second wire 74 at least include a first region with the first magnetic field signal, a second region with the second magnetic field signal, and a third region with the third magnetic field signal.
  • the first magnetic field signal includes a first magnetic field with a first direction and a second magnetic field with a first direction;
  • the second magnetic field signal includes a first magnetic field with a first direction and a second magnetic field with a second direction;
  • the third magnetic field The magnetic field includes a first magnetic field having a second orientation and a second magnetic field having the first orientation.
  • the plurality of regions formed around the first wire 73 and the second wire 74 further include a fourth region having a fourth magnetic field signal, and the fourth magnetic field signal includes the first magnetic field and the second magnetic field having the second direction direction of the second magnetic field. Since the direction of the magnetic field inside and outside the wire is related to the direction of the current on the wire, the direction of the current loaded on the first wire 73 and the second wire 74 as shown in FIG. 13 is used as an example for description.
  • the first region has a first magnetic field signal, and the first magnetic field signal includes a first magnetic field with a vertical upward direction and a second magnetic field with a vertical upward direction;
  • the second region has a second magnetic field signal, and the second magnetic field signal including a first magnetic field with a vertical upward direction and a second magnetic field with a vertical downward direction;
  • the third region has a third magnetic field signal, and the third magnetic field signal includes a first magnetic field with a vertical downward direction and a second vertical downward direction a magnetic field;
  • the fourth region has a fourth magnetic field signal, and the fourth magnetic field signal includes a first magnetic field with a vertical downward direction and a second magnetic field with a vertical downward direction.
  • the smart lawn mower 10 shown in FIGS. 14 to 15 includes a plurality of sensors and a lawn mower control module 15, and the plurality of sensors are used to sense the magnetic fields of the plurality of regions formed around the first wire 73 and the second wire 74. Signal.
  • the sensor is a magnetic sensor, and as a specific implementation, the sensor is a Hall sensor.
  • the directions shown in FIG. 14 are defined as the front-rear direction and the left-right direction of the charging station, respectively.
  • the smart lawn mower 10 includes at least a first sensor 102a and a second sensor 102b.
  • the first sensor 102a is arranged near the left running wheel
  • the second sensor 102b is arranged near the right running wheel.
  • the lawn mower control module 15 is configured to: when the intelligent lawn mower 10 moves along a route, determine that the first sensor 102a is located in the first area, and the second sensor 102b is located in the first area, determine that the intelligent lawn mower 10 is located in the first area.
  • the traveling wheels are controlled to continue to travel on this route.
  • the smart lawn mower 10 further includes a third sensor 102 c disposed near the rear side of the smart lawn mower housing 11 .
  • the lawnmower control module 15 is configured to: when the self-propelled device moves in a route, it is determined that the first sensor 102a is located in the second area, the second sensor 102b is located in the third area, and the third sensor 102c is located in the first area, determine the intelligent The lawn mower 10 is located at the second preset position and sends a stop signal to the travel motor to stop the intelligent lawn mower 10 from moving forward.
  • the smart lawn mower 10 also includes a third sensor 102c and a fourth sensor 102d.
  • the third sensor 102c and the fourth sensor 102d are disposed close to the rear side of the housing, and they are symmetrically distributed with respect to the center line 12 of the housing of the smart lawn mower 10 .
  • the lawnmower control module 15 is configured such that the lawnmower control module 15 is configured such that the first sensor 102a is located in the second area, the second sensor 102b is located in the third area, the third sensor 102c is located in the first area, and the fourth sensor is located in the first area.
  • a stop signal is sent to the traveling motor to stop the intelligent lawn mower 10 from moving forward.
  • the smart lawn mower 10 is provided with a plurality of sensors, so that the lawn mower control module 15 can determine the position of the smart lawn mower 10 relative to the base plate 72 more accurately, thereby preventing misjudgment.
  • the function of the charging station 70 to guide the charging of the smart lawn mower 10 will be explained with reference to FIG. 16 .
  • the charging station 70 sends a guiding signal to the first wire 73 and the second wire 74, and the guiding signal flows through the wires to generate a magnetic field, and a plurality of sensors on the smart lawn mower 10 detect the magnetic field. strength, the mower mower control module 15 moves the smart mower 10 in the direction of higher magnetic field strength.
  • the lawn mower control module 15 determines whether the smart lawn mower 10 is located at the preset position according to the areas where the plurality of sensors are located, and if it is at the first preset position, The intelligent lawn mower 10 is controlled to continue to travel on the route, otherwise the intelligent lawn mower 10 is controlled to adjust the route to move forward.
  • the lawnmower control module 15 is configured to perform the following operations: receive position signals from multiple sensors, obtain the positions of the multiple sensors, that is, obtain the area where each sensor is located; judge the smart mowing according to the area where each sensor is located whether the machine 10 is in the preset position. Further, the lawnmower control module 15 is also configured to perform the following operations: determine the positional relationship between the smart lawnmower 10 and the bottom plate 72 according to the area where each sensor is located, and adjust the intelligent mower according to the positional relationship between the intelligent lawnmower 10 and the bottom plate 72 The forward path of the lawn mower 10 .
  • the control process of the above-mentioned intelligent lawn mower 10 will be described in detail later with reference to the accompanying drawings.
  • FIG. 17 shows one of the possible movement paths of the smart lawn mower 10 entering the base plate 72.
  • the lawn mower control module 15 recognizes that the first sensor 102a is located in the second area, the second sensor 102b is located in the first area, and the third sensor 102b is located in the first area. If the sensor 102c is located in the first area, the lawn mower control module 15 determines that the position of the smart lawn mower 10 does not match the first preset position at this time.
  • the lawn mower control module 15 further determines that the smart lawn mower 10 enters the base plate 72 in a direction to the left of the base plate 72 according to the fact that the first sensor 102 a is located in the second area, the second sensor 102 b is located in the first area, and the third sensor 102 c is located in the first area. , so that the smart lawn mower 10 is controlled to exit the multiple areas surrounded by the first wire 73 and the second wire 74 backward, and the smart lawn mower 10 is controlled to move to the right for a certain distance and then drive into the bottom plate 72 .
  • the lawn mower control module 15 continuously adjusts the route of the intelligent lawn mower 10 entering the base plate 72 until the intelligent lawn mower 10 reaches the preset position.
  • the lawn mower control module 15 recognizes that the first sensor 102a is located in the first area and the second sensor 102b is located in the second area, and determines that this When the position of the intelligent lawn mower 10 is consistent with the first preset position, the intelligent lawn mower 10 is controlled to continue to travel on this route; the lawn mower control module 15 further identifies whether it is in the second preset position, and if so, controls the intelligent lawn mower 10 The lawn mower 10 stops moving forward, otherwise the intelligent lawn mower 10 is controlled to adjust the route to move forward.
  • a control method of the aforementioned smart lawn mower 10 includes the following steps:
  • the smart lawn mower 10 enters the base plate 72 in one route, and the lawn mower control module 15 receives position signals from multiple sensors, and obtains the positions of the multiple sensors, that is, obtains the area where each sensor is located.
  • the lawn mower control module 15 determines whether the smart lawn mower 10 is located at the first preset position according to the area where each sensor is located. If otherwise, execute S3, and if so, execute S5.
  • the lawn mower control module 15 determines the positional relationship between the intelligent lawn mower 10 and the base plate 72 according to the area where each sensor is located. For example, in the embodiment shown in FIG. 16 , the lawn mower control module 15 further judges smart mowing according to the fact that the first sensor 102a is located in the second area, the second sensor 102b is located in the first area, and the third sensor 102c is located in the first area.
  • the machine 10 enters the bottom plate 72 in a direction to the left of the bottom plate 72 .
  • the lawn mower control module 15 adjusts the forward route of the intelligent lawn mower 10 according to the positional relationship between the intelligent lawn mower 10 and the base plate 72 .
  • the lawn mower control module 15 determines that the intelligent lawn mower 10 enters the base plate 72 in a leftward direction of the base plate 72 , so as to control the intelligent lawn mower 10 to exit the first wire 73 and
  • the second wire 74 surrounds the formed multiple areas, and controls the smart lawn mower 10 to move to the right for a certain distance and then drive into the bottom plate 72 .
  • the lawn mower control module 15 further adjusts the route of the intelligent lawn mower 10 into the base plate 72 by continuously adjusting until the intelligent lawn mower 10 reaches the preset position.
  • the lawn mower control module 15 determines whether the intelligent lawn mower 10 is located at the second preset position according to the area where each sensor is located. If otherwise, execute S7, and if so, execute S4.
  • the bottom plate to guide the intelligent lawn mower 10 so that it can identify and approach the position of the charging station, the efficiency of returning the intelligent lawn mower to the charging station for charging and the reliability of charging docking can be improved.
  • FIG. 19 shows a circuit block diagram of the charging station 80 as an embodiment.
  • the charging station 80 further includes a terminal voltage detection unit 85 connected to the charging station control module 84 for detecting the voltage value of the first power supply terminal 821 .
  • the charging station control module 84 is used to monitor the voltage value of the first power supply terminal 821, and when the voltage of the first power supply terminal 821 is a preset voltage value and a plurality of sensors are located at preset positions, determine the charging of the smart lawn mower 10
  • the interface 13 is successfully connected with the second output interface 82 of the charging station 80 , so that the second output interface 71 outputs electrical energy to charge the smart lawn mower 10 .
  • the auxiliary power supply module 83 is connected between the input interface 81 and the second output interface 82 , and is used for converting the provided electrical energy into other electrical energy to be supplied to the second output interface 82 . Specifically, the auxiliary power supply module converts the electrical energy provided by the external power source into a voltage value and provides it to the first power supply terminal 821 .
  • the terminal voltage detection unit 85 detects the voltage value of the first power supply terminal 821 .
  • the voltage of the first power supply terminal 821 is reduced to the first voltage value, and the terminal voltage detection unit 85 detects a voltage including the voltage value of the first power supply terminal 821
  • the signal is sent to the charging station control module 84 .
  • the charging station control module 84 is configured to send a power supply signal to the charging power supply module 83 to control the charging interface 13 when the first voltage value is a preset voltage value and the sensors of the smart lawn mower 10 are located at preset positions
  • the connection with the second output interface 82 is turned on, so that the second output interface 82 outputs electric energy to charge the smart lawn mower 10 .
  • the self-driving device includes: a boundary line 110 for planning the working area of the self-driving device 120; walking to perform work; the charging station 130 is electrically connected to the boundary line 110 for generating an encoded boundary signal and sending the encoded boundary signal to the boundary line 110; the encoded boundary signal flows through the boundary line 110 to generate a first magnetic field signal; charging The station 130 includes: a signal transmitter for generating a coded boundary signal with a preset coding protocol; a self-driving device 120 for receiving an external magnetic field signal, and obtaining a decoding boundary signal in a preset decoding manner; between the decoding boundary signal and the coding boundary signal When matching, it is determined that the external magnetic field signal received from the driving device 120 is the first magnetic field signal generated when the encoded boundary signal flows through the boundary line 110 .
  • the boundary line 110 is a closed wire, and two ends of the boundary line 110 can be connected to the positive electrode and the negative electrode of the charging station 130 respectively.
  • the area formed around the boundary line 110 is the working area of the self-driving device 120 .
  • the self-driving device 120 may include at least one tire so that the self-driving device 120 can walk on the lawn, and a receiving sensor is also provided on the self-driving device 120, which can receive the first magnetic field signal in the sensing area and convert it into a corresponding electrical signal .
  • the receiving sensor may further include a resonant LC frequency selection circuit, and the LC frequency selection circuit may convert the first magnetic field signal into a voltage signal.
  • the self-propelled device 120 may be an intelligent lawn mower, or may be a garden-type electric tool such as a snow blower, which is not limited herein.
  • a receiving sensor of one of the self-driven devices can receive at least three magnetic field signals. As shown in Figure 21, it includes three self-driven device systems, and then It includes three charging stations 130 , three boundary lines 110 and three self-driving devices 120 , and the three self-driving devices 120 can respectively receive magnetic field signals from at least three charging stations 130 . Due to the adjacent boundary lines of different self-driving devices, one self-driving device can receive signals from other external magnetic fields, which will interfere with the current position judgment. The receiving sensor cannot determine which magnetic field signal is the first magnetic field signal formed by the self-driving device system.
  • At least three magnetic field signals may resolve at least three current positions, which may cause misjudgment of the current position of the self-driving device. For example, if the self-driven device 120 within the boundary line 110 misidentifies the magnetic field signal of the adjacent self-driven device system as its own, an error message outside the boundary line will be obtained. Therefore, it must be able to correctly identify which magnetic field signals are issued by the boundary line of the self-driven equipment system where one is located to avoid misjudgment.
  • the encoded boundary signal is transmitted in the boundary line, and an electromagnetic field can be formed, thereby generating a first magnetic field signal.
  • the voltage signal converted according to the first magnetic field signal may also be an encoded voltage signal, so the current position of the self-driving device can be determined according to the voltage signal only after decoding.
  • the self-driving device 120 can acquire all the magnetic field signals in its sensing area, but the position information of the self-driving device 120 can only be determined according to the first magnetic field signal corresponding to the current device.
  • the other external magnetic field signals may include other encoding methods, so decoding cannot be performed or the decoding boundary signal does not match the encoding boundary signal, and multiple external magnetic field signals will not be converted. A plurality of voltage signals are obtained, thereby causing misjudgment of the current position of the self-driven device.
  • the decoding method and the coding boundary signal correspond to each other, the decoding boundary signal and the coding boundary signal match each other, and the coding protocol can be set in advance.
  • the self-driving device may include a receiving sensor for sensing the first magnetic field signal and converting it into a corresponding electrical signal.
  • the receiving sensor may include a magnetic field detection sensor, which may detect the alternating magnetic field and convert it into an electrical signal output.
  • the receiving sensor includes an inductance, the inductance induces a magnetic field, and generates a corresponding electromotive force, thereby converting the first magnetic field signal into an electrical signal for output.
  • the signal transmitter may be used to encode and generate an encoded boundary signal with a preset encoding protocol.
  • the signal generator can encode and generate the coded boundary signal in the preset digital coding mode, quadrature amplitude modulation coding mode and relative phase shift keying mode.
  • the encoding manners of the adjacent self-driving device systems may be different, which reduces the current self-driving device receiving and decoding the first magnetic field signal of the adjacent self-driving device systems.
  • the self-driving device 120 can receive two kinds of magnetic field signals with a large difference in strength, it can trigger the generation of an encoding update instruction, and replace the current encoding mode and decoding mode.
  • the self-driving device 120 may decode the first magnetic field signal to obtain a decoded boundary signal, and then determine the current position of the self-driving device 120 according to the decoded signal.
  • the current position of the self-driving device can be obtained by decoding, and specifically, the information of the self-driving device within the boundary line or outside the boundary line can be obtained.
  • FIG. 22 is a schematic diagram of the magnetic field directions inside and outside the boundary line of this embodiment. As shown in FIG. 22 , since the changing directions of the magnetic fields inside and outside the boundary line are completely opposite, the received waveforms are 180° out of phase.
  • the current position of the self-driving device 120 can be obtained by decoding the boundary signal, and specifically the information that the self-driving device 120 is inside the boundary line 110 or outside the boundary line 110 can be obtained.
  • the self-driven device determines that the self-driven device is located outside the working area when the decoded boundary signal is opposite to the encoded boundary signal.
  • the present embodiment discloses a self-propelled equipment system, including: a boundary line, used for planning the working area of the self-driven equipment; self-driven equipment, automatically walking in the working area to perform operations; a charging station, electrically connected to the boundary line , used to generate the coded boundary signal and send the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate the first magnetic field signal; the charging station includes: a signal transmitter for generating the coded boundary according to the preset coding protocol code signal; the self-driving device receives the external magnetic field signal and obtains the decoding boundary signal in a preset decoding method; when the decoding boundary signal matches the encoding boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoding boundary signal flowing through the boundary The first magnetic field signal generated when the line is The above technical solution reduces the occurrence of misidentification of other external magnetic field signals as the first magnetic field signal of the self, reduces the misjudgment of the magnetic field signal,
  • the self-propelled device includes: a boundary line for planning a working area of the self-propelled device; a self-propelled device for automatically walking in the work area to perform operations; a charging station, which is electrically connected to the boundary line.
  • the sexual connection is used to generate the coded boundary signal and send the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate the first magnetic field signal; the charging station includes: a signal transmitter for coding and generating with a preset coding protocol Encoding the boundary signal; the self-driving device receives the external magnetic field signal, and obtains the decoding boundary signal in a preset decoding method; when the decoding boundary signal matches the encoding boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoding boundary signal stream The first magnetic field signal generated when passing the boundary line.
  • the coding information includes start code, charging station code and end code.
  • the start code is used to mark the start of the coding boundary signal; the charging station code is used to identify the charging station; the end code is used to mark the end of the coding boundary signal. Finish.
  • each charging station code needs to set a start code and an end code, which are used to mark the start and end of the encoding.
  • a charging station can include at least one charging station code, the charging station code can mark the corresponding charging station, and different charging stations can correspond to different charging station codes, that is, different self-driving equipment systems can correspond to different charging station codes.
  • the coding modes of the start code and the end code may be the same or different, and the start code and end code of the adjacent self-driven equipment systems may be different.
  • the charging station code may be located at the center position, and a start code and an end code may be set before and after it to mark the start and end of encoding of the charging station code.
  • FIG. 23 is a schematic diagram of encoding in the preset encoding protocol of this embodiment. As shown in FIG. 23 , in this embodiment, the start code and the end code may be consistent, and the charging station code may be located between the start code and the end code.
  • the encoded information also includes a model number and a check code.
  • the model number is used to convey the information of the charging station; the check code is used to check whether the encoded boundary signal is complete.
  • the information of the charging station conveyed by the model code may include charging current, charging voltage, and a one-key return instruction sent.
  • the check code is used to verify the integrity and accuracy of the encoded boundary signal.
  • the model code may be located between the start code and the charging station code, and the check code may be located between the charging station code and the end code.
  • the model code can also be located between the check code and the end code, and between the charging station code and the check code.
  • the location of the model code is not specifically limited and can be set according to the actual situation.
  • the verification code can be located after the charging station code to verify its integrity and accuracy.
  • the charging station electrically connected to the boundary line, is also used to transmit coded boundary signals to the boundary line at different intervals.
  • FIG. 24 is a schematic diagram of the sending format of adjacent charging station codes provided in this embodiment. As shown in FIG. 24 , when the first charging station code and the second charging station code are sent at intervals, the first charging station code and the second charging station code are sent at intervals. T1 between codes, T2 between the second charging station code and the first charging station code may be different.
  • the first charging station code can be a complete boundary signal from the start code to the end code in FIG. 7, and the second charging station code is sent at different time intervals, which can prevent the magnetic field signals from adjacent boundary lines from overlapping and causing interference. .
  • the first charging station code and the second charging station code are the same, but the model codes of the first charging station code and the second charging station code may be the same or different.
  • T1 and T2 can be set according to the actual situation. In practical applications, if three charging station codes need to be sent at intervals at the same time, the time interval between the three charging station codes can also be different. The time interval between codes can also be different in pairs, which further increases the reliability of the code boundary signal to the external magnetic field.
  • the self-driving device includes: at least one sensor for sensing the change of the magnetic field generated when the encoded boundary signal flows through the boundary line to generate the boundary line sensing signal; a control module for: receiving the boundary line sensing signal; at least according to the boundary line sensing signal to generate a boundary line sensing signal
  • the preset encoding protocol obtains the decoded boundary signal; when the decoded boundary signal matches the encoded boundary signal, it is determined that the self-driving device is located in the working area.
  • the controller may determine the current position of the self-driving device according to the processing signal, and the current position information may include information about whether the self-driving device is located within the boundary line or within the boundary line, and the distance information between the self-driving device and the boundary line.
  • the sensors may include receiving sensors.
  • the signal transmitter is further configured to: encode the boundary signal according to at least one of amplitude coding, frequency coding and phase coding to obtain the coded boundary signal.
  • the boundary signal may be coded according to at least one of amplitude coding, frequency coding and phase coding to obtain the coded boundary signal.
  • the boundary signal may be coded according to other information to obtain the coded boundary signal.
  • Fig. 25a is a schematic diagram of amplitude encoding and frequency encoding of this embodiment
  • Fig. 25b is a schematic diagram of absolute phase encoding of this embodiment
  • Fig. 25c is a schematic diagram of relative phase encoding of this embodiment.
  • the coding mode when the digital When modulation coding includes amplitude coding, the coding mode includes:
  • an amplitude encoded signal is obtained.
  • the boundary signal of the first amplitude can be coded as "1”
  • the boundary signal of the second amplitude can be coded as "0”.
  • the amplitude coded signal as shown in Fig. 6a can be obtained.
  • the boundary signal of the first amplitude may also be encoded as "0”, and the boundary signal of the second amplitude may be encoded as "1”, and the specific encoding manner may be determined according to actual requirements.
  • the coding method includes:
  • the boundary signal of the first frequency can be coded as "1”
  • the boundary signal of the second frequency can be coded as "0”.
  • the frequency coded signal as shown in Fig. 25a can be obtained.
  • the boundary signal of the first frequency may be encoded as "0”, and the boundary signal of the second frequency may be encoded as "1", and the specific encoding method may be determined according to actual requirements.
  • the coding method includes:
  • the boundary signal of the first phase can be encoded as "0", and the boundary signal of the second phase can be encoded as "1".
  • the first phase shown in Fig. 25b can be obtained encoded signal.
  • the boundary signal of the first phase may be encoded as "1”, and the boundary signal of the second phase may be encoded as "0", and the specific encoding method may be determined according to actual requirements.
  • the coding method when the digital modulation coding includes relative phase coding, the coding method also includes:
  • the boundary signal of the third phase can be encoded as "0”
  • the boundary signal of the fourth phase can be encoded as "1”
  • the second phase shown in Figure 6c can be obtained encoded signal.
  • the boundary signal of the third phase may be encoded as "1”, and the boundary signal of the fourth phase may be encoded as "0", and the specific encoding method may be determined according to actual requirements.
  • Digital modulation coding also includes: pulse code modulation,
  • Coding methods include:
  • the binary code is used to represent the quantized signal to obtain a pulse-coded signal.
  • the boundary signal may be quantized according to the amplitude and time sequence of the boundary signal, and then the quantized boundary signal may be encoded in binary to obtain a pulse coded signal.
  • FIG. 26 is a schematic diagram of the decoding of the pulse code modulation in this embodiment.
  • the received magnetic field signal is an analog signal, and the magnetic field signal can be sampled, quantized and encoded. , obtain the decoded boundary signal, and then match the decoded boundary signal with the encoded boundary signal, it is determined that the self-driving device is located in the working area.
  • the coding boundary signal may be determined according to the change state of at least one of the amplitude and the phase of the boundary signal.
  • the amplitude of the boundary signal includes a first amplitude and a second amplitude
  • the phase of the boundary signal includes a first phase, a second phase, a third phase and a fourth phase.
  • determining the coding boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal including:
  • the boundary signal is encoded to obtain the first encoded boundary signal
  • the boundary signal is encoded to obtain the second encoded boundary signal
  • the boundary signal is encoded to obtain a third encoded boundary signal.
  • determining the encoded boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal including:
  • the boundary signal is encoded to obtain a fifth encoded boundary signal
  • the boundary signal is coded to obtain a sixth coded boundary signal.
  • the signal transmitter is further configured to: determine the coded boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal.
  • the amplitude of the boundary signal includes a first amplitude and a second amplitude
  • the phase of the boundary signal includes a first phase, a second phase, a third phase and a fourth phase.
  • FIG. 27 is a schematic diagram of the quadrature amplitude modulation coding according to this embodiment.
  • the method for determining the coding boundary signal may include: :
  • the boundary signal is encoded to obtain the first encoded boundary signal
  • the boundary signal is encoded to obtain the second encoded boundary signal
  • the boundary signal is encoded to obtain the third encoded boundary signal
  • the boundary signal is encoded to obtain a fourth encoded boundary signal.
  • determining the coding boundary signal according to the change state of at least one of the amplitude and the phase of the boundary signal including:
  • the boundary signal is encoded to obtain the fifth encoded boundary signal
  • the boundary signal is encoded to obtain the sixth encoded boundary signal
  • the boundary signal is encoded to obtain the seventh encoded boundary signal
  • the boundary signal is coded to obtain an eighth coded boundary signal.
  • the first amplitude may be A 1
  • the second amplitude may be A 2
  • the first phase may be 0,
  • the second phase may be ⁇ /2
  • the third phase may be ⁇
  • the fourth phase may be 3 ⁇ /2 .
  • the code 000 can be obtained; according to the second amplitude value A 2 and the first phase 0, the code 001 can be obtained; according to the first amplitude value A 1 and the second phase ⁇ /2 , the code 010 can be obtained; according to the second amplitude A 2 and the second phase ⁇ /2, the code 011 can be obtained; according to the first amplitude A 1 and the third phase ⁇ , the code 100 can be obtained; according to the second amplitude A 2 and the third phase ⁇ , the code 101 can be obtained; according to the first amplitude A 1 and the fourth phase 3 ⁇ /2, the code 110 can be obtained; according to the second amplitude A 2 and the fourth phase 3 ⁇ /2, the code 110 can be obtained 111.
  • the amplitude may further include at least three amplitudes
  • the phase may further include at least two phases, to encode the boundary signal. The greater the number of amplitudes and phases, the more codes that can be formed, and then more complex codes can be performed, so that the coding and decoding are more accurately corresponded, and the occurrence of signal misjudgment is further reduced.
  • the encoded boundary signal may be generated by encoding in a relative phase shift keying manner.
  • the decoded boundary signal is obtained in a relative phase shift keying manner at least according to the boundary line sensing signal, including:
  • the boundary line sensing signal is shifted by a first preset period to obtain a comparison sensing signal; the boundary line sensing signal and the comparison sensing signal are multiplied to obtain a product sensing signal; and a decoded boundary signal is generated according to the product sensing signal.
  • the phase change when encoding in a relative phase shift keying manner, the phase change can be used as the transmitted information.
  • FIG. 28 is a schematic diagram of the relative phase shift keying method of encoding in this embodiment.
  • the boundary line sensing signal is shifted by a second preset period to obtain a comparison sensing signal; the boundary signal and the comparison sensing signal are multiplied.
  • the product induction signal can be obtained; according to its relative phase, the value of “0” and “1” are respectively taken for the product induction signal to obtain the coded boundary signal.
  • the second preset period may include 2 ⁇ .
  • Generating the decoded boundary signal according to the product induction signal includes: generating the decoded boundary signal according to the waveform of the product induction signal.
  • the waveform of the product induction signal can be generated from the demodulated data, that is, the waveform of the product induction signal can generate the decoding boundary signal.
  • the first preset period includes 8 ⁇ .
  • both the first preset period and the second preset period may be set according to actual needs, which are not specifically limited herein.
  • the present embodiment discloses a self-propelled equipment system, including: a boundary line, used for planning the working area of the self-driven equipment; self-driven equipment, automatically walking in the working area to perform operations; a charging station, electrically connected to the boundary line , used to generate the coded boundary signal and send the coded boundary signal to the boundary line; the coded boundary signal flows through the boundary line to generate the first magnetic field signal; the charging station includes: a signal transmitter for generating the coded boundary according to the preset coding protocol code signal; the self-driving device receives the external magnetic field signal generated when the coded boundary signal flows through the boundary line, and obtains the decoding boundary signal in a preset decoding method; when the decoding boundary signal matches the coded boundary signal, it determines the signal received by the self-driving device.
  • the external magnetic field signal is a first magnetic field signal generated when the encoded boundary signal flows through the boundary line.
  • start code, end code, charging station code, model number and check code can jointly realize the coding boundary signal, which further makes the coding boundary signal more reliable.
  • a charging station for a self-propelled device system is provided, the charging station is electrically connected to the boundary line for generating and transmitting the coded boundary signal to the boundary line; the coded boundary signal Flow through the boundary line to generate the first magnetic field signal;
  • the charging station includes:
  • a signal transmitter used to encode and generate an encoded boundary signal with a preset encoding protocol
  • the self-driving device receives the external magnetic field signal, and obtains the decoded boundary signal in a preset decoding method; when the decoded boundary signal matches the encoded boundary signal, it is determined that the external magnetic field signal received by the self-driving device is the encoded boundary signal when the signal flows through the boundary line Generated first magnetic field signal.
  • the charging station electrically connected to the boundary line, is also used to transmit coded boundary signals to the boundary line at different intervals.
  • the charging station provided in this embodiment can generate a coded boundary signal and send it to the boundary line, thereby generating an electromagnetic field.
  • the present application can be implemented by means of software and necessary general-purpose hardware, and can also be implemented by hardware.
  • the technical solution of the present application can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a floppy disk of a computer, a read-only memory (Read-Only Memory, ROM), Random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute various implementations of the present application example method.
  • a computer-readable storage medium such as a floppy disk of a computer, a read-only memory (Read-Only Memory, ROM), Random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

L'invention concerne une station de charge pouvant guider un dispositif à conduite autonome vers une station d'accueil, la station de charge comprenant : une plaque inférieure (72) qui est montée dans une zone de travail de manière à fixer un dispositif à conduite autonome (10) ; un premier fil conducteur (73), lequel entoure la plaque inférieure, est indépendant de la ligne de délimitation, et est connecté à un générateur de signal (75) ; un second fil conducteur (74), lequel entoure la plaque inférieure, est indépendant de la ligne de délimitation et du premier fil conducteur, et est connecté au générateur de signal ; le générateur de signal envoie un signal de guidage au premier fil conducteur et/ou au second fil conducteur, une première région ayant un premier signal de champ magnétique, une seconde région ayant un second signal de champ magnétique, et une troisième région ayant un troisième signal de champ magnétique étant au moins comprises dans une pluralité de régions formées par l'englobement du premier fil conducteur et du second fil conducteur.
PCT/CN2021/132087 2020-12-14 2021-11-22 Système de dispositif à conduite autonome et station de charge WO2022127525A1 (fr)

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EP21905454.1A EP4226756A4 (fr) 2020-12-14 2021-11-22 Système de dispositif à conduite autonome et station de charge
US18/311,079 US11815901B2 (en) 2020-12-14 2023-05-02 Self-driving device system and charging station

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CN202011468089.6A CN114629190A (zh) 2020-12-14 2020-12-14 引导自驱动设备对接的充电站及自驱动设备系统
CN202011468089.6 2020-12-14
CN202011613606.4A CN114764237A (zh) 2020-12-30 2020-12-30 一种自驱动设备系统和充电站
CN202011613566.3 2020-12-30
CN202011615556.3A CN114690748A (zh) 2020-12-30 2020-12-30 一种自驱动设备系统和充电站
CN202011615556.3 2020-12-30
CN202011613380.8 2020-12-30
CN202011613380.8A CN114690758A (zh) 2020-12-30 2020-12-30 一种自驱动设备系统和充电站
CN202011613566.3A CN114679949B (zh) 2020-12-30 2020-12-30 一种自驱动设备系统和充电站
CN202011613606.4 2020-12-30

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